Proceedings of the Korean Society of Precision Engineering Conference (한국정밀공학회:학술대회논문집)

  • 2000.11a
  • /
  • Pages.161-164
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  • 2000
  • /
  • 2005-8446(pISSN)
Korean Society for Precision Engineering (한국정밀공학회)
권호 표지

An improved rubust hybrid control for uncertain robot manipulators

불확실 로봇이 개선된 견실 하이브리드 제어

  • 김재홍 (부산대 대학원 지능기계공학과) ;
  • 한명철 (부산대 기계공학과) ;
  • 하인철 (부산대 대학원 지능기계공학과)
  • Published : 2000.11.01
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Abstract

An improved robust hybrid control law is proposed This law uses the separated bounding function: so uncertainties of each axis does not affect the others. Also, this law uses the separated $\varepsilon$, so we can take different $\varepsilon$ for each axis This law guarantees the practical stability in sense of Lyapunov. Simulation was performed to validate this law using a four-axis SCARA type robot manipulator.

Keywords